/**
* CAN Relay.
*
*
* @date 2006-12-17
* @author Erik Larsson
*
* ADC=Vin*1024/Vref
* Vout=( 10 mV/C )( Temperature C ) + 500 mV
*
* Transmitts: DATA: <temperature low byte> <temperature high byte> <relay status> <failsafe mode>
*
*
*/
#define TWO_BUTTON_MODE 0 /* If using two (or just one but nothing more) auxiliary buttons */
/*-----------------------------------------------------------------------------
* Includes
*---------------------------------------------------------------------------*/
/* system files */
#include <avr/io.h>
#include <avr/interrupt.h>
#include <stdio.h>
#include <avr/wdt.h>
/* lib files */
#include <bios.h>
#include <tc1047.h>
#include <funcdefs.h>
/* defines */
#define GROUP_ID 0x01UL
#define RELAY_OFF 0x01UL
#define RELAY_ON 0x02UL
#define FAILSAFE_MODE 0x0FUL
#define FAILSAFE_TRESHOLD 60 /* Degrees when nodeRelay goes into failsafe mode */
#define RELAY_CMD_ON 0x01UL
#define RELAY_CMD_OFF 0x02UL
#define RELAY_CMD_TOGGLE 0x03UL
#define RELAY_CMD_STATUS 0x04UL
#define RELAY_CMD_RESET 0x05UL
#define STATUS_SEND_PERIOD 10000 /* milliseconds */
#define FAILSAFE_SEND_PERIOD 10000 /* milliseconds */
#define BOUNCE_TIME 10 /* milliseconds */
#define BUTTON1 1
#define BUTTON2 2
/*-------------------------------------------------------------------------
* Global variables
* -----------------------------------------------------------------------*/
#if TWO_BUTTON_MODE
Can_Message_t txMsg_Button;
#endif
uint8_t relayStatus, failsafe_flag = 0;
uint32_t boardTemperature = 0;
Can_Message_t txMsg;
/*----------------------------------------------------------------------------
* Functions
* -------------------------------------------------------------------------*/
uint8_t relayOff();
uint8_t relayOn();
void relayFailsafe();
void can_receive(Can_Message_t *msg){
uint32_t act;
uint32_t m, act_type, group, node;
if( ((msg->Id & CLASS_MASK)>>CLASS_MASK_BITS) == CLASS_ACT){
act = (msg->Id & TYPE_MASK) >> TYPE_MASK_BITS;
act_type = (act & ACT_TYPE_MASK) >> ACT_TYPE_BITS;
group = (act & ACT_GROUP_MASK) >> ACT_GROUP_BITS;
node = (act & ACT_NODE_MASK) >> ACT_NODE_BITS;
if( act_type == ACT_TYPE_RELAY && (group == GROUP_ID || node == NODE_ID) ){
if(msg->Data.bytes[0] == RELAY_CMD_ON && !failsafe_flag){
// Turn relay on
relayStatus = relayOn();
}else if(msg->Data.bytes[0] == RELAY_CMD_OFF && !failsafe_flag){
// Turn relay off
relayStatus = relayOff();
txMsg.Id = 0x8000111UL; // FIXME
bios->can_send(&txMsg);
}else if(msg->Data.bytes[0] == RELAY_CMD_TOGGLE && !failsafe_flag){
// Toggle relay
if(relayStatus == RELAY_OFF){
relayStatus = relayOn();
}else{
relayStatus = relayOff();
txMsg.Id = 0x8000113UL; // FIXME
bios->can_send(&txMsg);
}
}else if(msg->Data.bytes[0] == RELAY_CMD_STATUS && !failsafe_flag){
// Send relay status to CAN
boardTemperature = getTC1047temperature();
if( (int32_t)boardTemperature >= FAILSAFE_TRESHOLD ){
// Goto failsafe mode
relayFailsafe();
}else{
// Transmitt node status
txMsg.Data.bytes[0] = boardTemperature & 0x00FF;
txMsg.Data.bytes[1] = (boardTemperature & 0xFF00)>>8;
txMsg.Data.bytes[2] = relayStatus;
txMsg.Data.bytes[3] = 0;
txMsg.Id = ( CLASS_SNS<<CLASS_MASK_BITS )|( SNS_ACT_STATUS_RELAY<<TYPE_MASK_BITS )|(NODE_ID);
bios->can_send( &txMsg );
}
}else if(msg->Data.bytes[0] == RELAY_CMD_RESET){
// Return to normal operation
failsafe_flag = 0;
}
}
}
}
/*----------------------------------------------------------------------------
* Interrupt routines // FIXME ordna och testa tryckknappar/rotary encoder
* -------------------------------------------------------------------------*/
#if TWO_BUTTON_MODE
ISR( PCINT2_vect )
{
/*
* Auxiliary button pressed and released
* Check time between press and release to eliminate bounces
*/
static uint32_t buttonTime[2];
txMsg_Button.RemoteFlag = 0;
txMsg_Button.ExtendedFlag = 1;
if( (PIND & (1<<PD6)) == 0){
/* Button pressed */
buttonTime[0] = Timebase_CurrentTime();
}else if( (PIND & (1<<PD6)) == 1){
if( Timebase_PassedTimeMillis( buttonTime[0] ) >= BOUNCE_TIME ){
/* No bounce, send message */
txMsg_Button.Id = BUTTON_ID;
txMsg_Button.DataLength = 1;
txMsg_Button.Data.bytes[0] = BUTTON1;
return;
}else{
/* Just bounces, ignore it */
return;
}
}
if( (PIND & (1<<PD7)) == 0){
/* Button pressed */
buttonTime[1] = Timebase_CurrentTime();
}else if( (PIND & (1<<PD7)) == 1){
if( Timebase_PassedTimeMillis( buttonTime[1] ) >= BOUNCE_TIME ){
/* No bounce, send message */
txMsg_Button.Id = BUTTON_ID;
txMsg_Button.DataLength = 1;
txMsg_Button.Data.bytes[0] = BUTTON2;
return;
}else{
/* Just bounces, ignore it */
return;
}
}
}
#endif
/*-----------------------------------------------------------------------------
* Main Program
*---------------------------------------------------------------------------*/
int main(void) {
adcTemperatureInit();
#if TWO_BUTTON_MODE
#error two button mode not yet tested
/*
* Initialize buttons
* It is possible to use ie. sensors instead
* but then change this
*/
// Set as input and enable pull-up
DDRD &= ~( (1<<DDD6)|(1<<DDD7) );
PORTD |= (1<<PD6)|(1<<PD7);
// Enable IO-pin interrupt
PCICR |= (1<<PCIE1);
// Unmask PD6 and PD7
PCMSK2 |= (1<<PCINT22) | (1<<PCINT23);
#endif
// Control channel for relay
DDRC |= (1<<DDC1);
// Set up callback for CAN messages
// bios->can_callback = &can_receive;
txMsg.RemoteFlag = 0;
txMsg.ExtendedFlag = 1;
txMsg.DataLength = 4;
sei();
// Turn relay off
relayStatus = relayOff();
txMsg.Id = 0x8000110UL; // FIXME
bios->can_send(&txMsg);
uint32_t timeStamp = bios->timebase_get(), temp;
// Main loop
while (1) {
temp = bios->timebase_get();
if( temp - timeStamp >= STATUS_SEND_PERIOD ){
timeStamp = temp;
// Send relay status to CAN
// boardTemperature = getTC1047temperature();
// if( (int32_t)boardTemperature >= FAILSAFE_TRESHOLD ){
// relayFailsafe();
// }else{
txMsg.Data.bytes[0] = timeStamp & 0x000000FF; //boardTemperature & 0x00FF;
txMsg.Data.bytes[1] = (timeStamp & 0x0000FF00)>>8; //(boardTemperature & 0xFF00)>>8;
txMsg.Data.bytes[2] = (timeStamp & 0x00FF0000)>>16; //relayStatus;
txMsg.Data.bytes[3] = (timeStamp & 0xFF000000)>>24; //0;
txMsg.Id = ( CLASS_SNS<<CLASS_MASK_BITS )|( SNS_ACT_STATUS_RELAY<<TYPE_MASK_BITS )|(NODE_ID);
bios->can_send( &txMsg );
// }
}
}
return 0;
}
uint8_t relayOff()
{
// Turn off relay
PORTC &= ~(1<<PC1);
DDRC |= (1<<DDC1); // FIXME
return RELAY_OFF;
}
uint8_t relayOn()
{
// Turn on relay
DDRC &= ~(1<<DDC1); // FIXME
PORTC |= (1<<PC1);
return RELAY_ON;
}
void relayFailsafe()
{
uint32_t timeStamp = 0;
relayStatus = relayOff();
failsafe_flag = 1;
while(1){
if( !failsafe_flag ){
// Return from failsafe mode
return;
}
if( bios->timebase_get() - timeStamp >= FAILSAFE_SEND_PERIOD ){
timeStamp = bios->timebase_get();
// Send relay status to CAN
boardTemperature = getTC1047temperature();
txMsg.Data.bytes[0] = boardTemperature & 0x00FF;
txMsg.Data.bytes[1] = (boardTemperature & 0xFF00)>>8;
txMsg.Data.bytes[2] = relayStatus;
txMsg.Data.bytes[3] = FAILSAFE_MODE;
txMsg.Id = ( CLASS_SNS<<CLASS_MASK_BITS )|( SNS_ACT_STATUS_RELAY<<TYPE_MASK_BITS )|(NODE_ID);
bios->can_send( &txMsg );
}
}
}